CN205915351U - Novel hand claw of setting machine ware people that adapts to many brick shape - Google Patents
Novel hand claw of setting machine ware people that adapts to many brick shape Download PDFInfo
- Publication number
- CN205915351U CN205915351U CN201620839460.8U CN201620839460U CN205915351U CN 205915351 U CN205915351 U CN 205915351U CN 201620839460 U CN201620839460 U CN 201620839460U CN 205915351 U CN205915351 U CN 205915351U
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Abstract
The utility model discloses a novel hand claw of setting machine ware people that adapts to many brick shape, it includes the base member the bottom surface of base member on be fixed with two parallel arrangement's base plate guide rail along the left and right sides, two the centre of base plate guide rail be fixed with a fixed hand claw connecting block respectively, at each the base plate guide rail of fixed hand claw connecting block both sides on respectively sliding connection have a base plate slider, be fixed with a gripper connecting plate respectively on each base plate slider and fixed hand claw connecting block, be connected with a finger assembly respectively on the relative gripper connecting plate who sets up of per two left and right sides, the utility model discloses a three brick finger of grabbing to adjust through servo motor drive gear rack gear and point the interval, adjust the precision height, and can use the finger of different quantity at sign indicating number brick in -process, satisfy a multiple double -layered brick and the position requirement of sign indicating number brick well.
Description
Technical field
This utility model is related to robot piling equipment field, particularly to a kind of adapt to many brick for brick stacking machine
The paw of device people.
Background technology
With the continuous development of China's economy, the low shortcoming of manual labor's high cost, efficiency becomes increasingly conspicuous, therefore in work
Industry has urgent needss to automation equipment in producing.Robot as the staple product of modern industry automatization, extensively
Be applied to the fields such as welding, piling, spraying.
In robot piling field, the stacking of brick has wide market prospect, stacks bricks in equipment in robot,
Robot end's brick clamping device is one of key component.At present, there is correlation technique, Chinese patent in stacking robot claw
Numbers 201210103054.1 provide one kind stacks bricks robot tong, can grip brick, secure side on the premise of not moving brick
Just, but the two ends clamping plate of this tong is parallel to each other it is impossible to grip the brick with the angle of wedge；China Patent No. 201520071185.5 carries
Supply a kind of brick stacking device of flexibility brick folding, the working environment of different occasions can be suitable for, but this brick clamping device structure is more multiple
Miscellaneous, and one piece of brick can only be gripped every time it is impossible to be applied to the situation that polylith brick produces simultaneously；China Patent No.
201520391705.0 provide one kind stacks bricks mechanical paw, can take and ratate 90 degrees placement the monolithic brick clamp of horizontal positioned,
But this paw equally adopts the structure of parallel splint, applicable brick is few, and by paw length limitation it is impossible to grip big model
Brick；China Patent No. 201020106066.6 provides the brick-clamping mechanical hand pawl automatically transferring adobe on a kind of static pressure machine, can be same
When grip polylith brick, but the spacing of multiple finger structures of this paw cannot be adjusted, applicable brick output spacing and to put brick position single
One it is impossible to adapt to various pile up requirement.In current brickmaking industry, the model of brick and stacking mode are various, and prior art carries
For gripping paw be difficult to meet it is therefore necessary to provide a kind of be suitable for many brick, gripping precision is good, the brick folding handss of efficiency high
Pawl.
Content of the invention
The purpose of this utility model is to overcome the shortcoming of prior art, provides a kind of gripping precision good, adapts to multiple bricks
Type and can complete diverse location crawl and pile up adaptation many brick the new paw of the robot that stacks bricks.
A kind of new paw of the robot that stacks bricks adapting to many brick of the present utility model, it includes matrix, in described base
Adpting flange for connecting robot is fixed with the top surface of body, the bottom surface of described matrix is fixed with along the left and right sides
The substrate guide rail that two be arranged in parallel, the centre of the substrate guide rail described at two is respectively fixed with a fixing paw and connects
Block, slidably connects a substrate slide block on the substrate guide rail of each described fixing paw contiguous block both sides respectively,
It is respectively fixed with a paw connecting plate on each substrate slide block and fixing paw contiguous block, relatively set about each two
One finger assembly is connected on the paw connecting plate put, each finger assembly includes being fixed on two about and relatively sets
The bounce cylinder fixed plate on paw connecting plate put, is fixed with electric rotating machine reducer assemblies in the bottom surface of described matrix,
One gear is fixed with the output shaft of described electric rotating machine reducer assemblies, described gear is located in the bottom surface of matrix
Between, the tooth bar that described gear is placed in parallel in the gear left and right sides with two engages and forms linear transmission, wherein one
The inner of tooth bar is located at the centre of the bottom surface and outer end rear side positioned at the bottom surface of matrix of matrix, the inner position of another toothed rack
In the centre of the bottom surface of matrix and outer end is located at the front side of the bottom surface of matrix, two tooth bar outer ends pass through outer end fixed knot respectively
Structure interval be held within two bounce cylinder fixed plates of both sides and being supported on of the inner all slips of two tooth bars
In inner supporting construction, described inner supporting construction is held within the bounce cylinder fixed plate of centre, each tooth bar
The inner be connected for the mobile guidance set movement providing guide effect of tooth bar with one respectively, in each described buffering gas
One bounce cylinder, the horizontally disposed push rod of described bounce cylinder and buffering gas are respectively fixed with cylinder fixed plate
Cylinder connecting plate is fixedly linked, and described bounce cylinder connecting plate is passed through the first guide rail slide block structure and slided with bounce cylinder fixed plate
It is connected to realize the telescopic moving of finger, brick folding finger fixed plate is fixed with described bounce cylinder connecting plate, described
Brick folding finger fixed plate on be fixed with brick folding cylinder, the horizontally disposed described push rod of brick folding cylinder is lived with finger
Moved end is fixedly linked, and the described push rod of bounce cylinder is vertically arranged with the push rod of brick folding cylinder, and described finger movement end leads to
Cross the second guide rail slide block structure and slide with brick folding finger fixed plate and be connected, a right clamping plate axle vertically arranging passes through the right side
Clamping plate and both be rotatedly connected, the top of described right clamping plate axle is rotatedly connected with finger movement end and is fixed with bottom
Right limit block, is fixedly connected with right locating piece, in described right positioning on the right clamping plate axle of described right clamping plate top face
Right corner degree piece, the described outside of right corner degree piece and right locating piece inner shape kissing are fixed with the right clamping plate top surface inside block
Merge and both fit setting, the described medial surface of right corner degree piece is fitted with stairstepping boss side surfaces below finger movement end and set
Put, finger fixing end is vertically fixed with the brick folding finger fixed plate with finger movement end opposite side, described handss
Refer to fixing end support to be arranged on left clamping plate, a left clamping plate axle vertically passes through finger fixing end and left clamping plate and handss
Refer to fixing end and left clamping plate be rotatedly connected, the top exposing finger fixing end in described left clamping plate axle is fixed with left locating piece,
Left Angle piece, the described outside of Left Angle piece and a left side are fixed with the finger fixing end top surface inside described left locating piece
Locating piece inner shape matches and both fit setting, the described inner side of Left Angle piece and bounce cylinder connecting plate outer wall
Setting can be compressed, be fixedly connected with left limit block in the bottom of described left clamping plate axle, in the inner side of described left limit block
On left limit block inwall and the bottom outer wall of left clamping plate between the and inner side in described right limit block and the bottom of right clamping plate
On right limit block inwall between portion's outer wall, the middle part each via bolt and one piece of spring leaf is fixedly linked, spacing at each
The both sides of block are threaded with a regulating bolt respectively, and the bolt head of described regulating bolt can hold out against the bullet being correspondingly arranged
The both sides of reed, the both sides of described spring leaf can compress the left clamping plate being correspondingly arranged or right clamping plate to limit clamping plate in folder
Active rotation in board shaft, under the drive of brick folding cylinder, clamps between described right clamping plate and left clamping plate or opens to press from both sides
Take brick or the brick unclamping gripping.
The beneficial effects of the utility model are: 1. this utility model includes three and grabs brick finger, and is driven by servomotor
Moving gear rack gear adjusts finger spacing, and degree of regulation is high, and can be using the finger of varying number during stacking bricks, very well
Ground meets multiple brick foldings and the status requirement that stacks bricks.2. this utility model includes bounce cylinder device, can improve steady when stacking bricks
Property, by the cushioning effect during extension of cylinder, efficiently reduce finger and open the damage that when putting brick, brick falls to brick.3.
Utility model banjo splint can adjust relative angle by activity template, and structure is simple, and it is convenient to change, and can be well adapted for different angles
The brick of degree.4. this utility model adopts modular structure design, and finger assembly is designed to separate modular, can be according to actual brick
Type design size, can easily carry out replacing and the maintenance of whole module.To sum up, this utility model structure is simple, and gripping is accurately
High with effect it is easy to safeguard, fitness is high, can be widely applied to robot and stack bricks field.
Brief description
Fig. 1 is a kind of structural representation of new paw of the robot that stacks bricks adapting to many brick of the present utility model；
Fig. 2 is the matrix elevational schematic view of the paw shown in this utility model Fig. 1；
Fig. 3 is the finger assembly exploded perspective view of the paw shown in this utility model Fig. 1；
Fig. 4 is the finger assembly exploded perspective view of the paw shown in this utility model Fig. 1；
Fig. 5 is the brick folding schematic diagram of the paw shown in this utility model Fig. 1.
Specific embodiment
Below in conjunction with the accompanying drawings, specific embodiment of the present utility model is described in detail.
A kind of new paw of the robot that stacks bricks adapting to many brick of the present utility model as shown in drawings, it includes matrix
2, the adpting flange 1 for connecting robot is fixed with the top surface of described matrix 2.Bottom surface 201 in described matrix 2
On be fixed with two substrate guide rails 202 be arrangeding in parallel along the left and right sides, in the middle of the substrate guide rail 202 described at two respectively
It is fixed with a fixing paw contiguous block 204, in the substrate guide rail 202 of each described fixing paw contiguous block 204 both sides
Upper slidably connect a substrate slide block 203 respectively, on each substrate slide block 203 and fixing paw contiguous block 204 point
It is not fixed with a paw connecting plate 208, the paw connecting plate 208 being oppositely arranged about each two is connected to one
Finger assembly 3, each finger assembly 3 includes the buffering gas being fixed on two about the paw connecting plates 208 being oppositely arranged
Cylinder fixed plate 301, is fixed with electric rotating machine reducer assemblies 205 in the bottom surface of described matrix 2, subtracts in described electric rotating machine
One gear 206 is fixed with the output shaft of fast device assembly 205, described gear 206 is located in the middle of the bottom surface of matrix 2, described
The tooth bar 207 that is placed in parallel in gear 206 left and right sides with two of gear 206 engage composition linear transmission, wherein one
The inner of toothed rack 207 is located at the centre of the bottom surface and outer end rear side positioned at the bottom surface of matrix 2 of matrix 2, another toothed rack
Positioned at the centre of bottom surface of matrix 2 and outer end is located at the front side of the bottom surface of matrix 2 for 207 the inner, and two tooth bar 207 outer ends are divided
It is not held within two bounce cylinder fixed plates 301 of both sides and two tooth bars by what outer end fixed structure was spaced
Being supported in inner supporting construction of 207 the inner all slips, described inner supporting construction is held within the buffering of centre
In air cylinder fixed plate 301.As a kind of embodiment of the present utility model, described outer end fixed structure includes being separately positioned on
Tooth bar shaft pressuring plate 214 between the described top surface of bounce cylinder fixed plate 301 of front-end and back-end and tooth bar, described buffering
It is fixedly linked by rack shaft 213 between air cylinder fixed plate 301, tooth bar and tooth bar shaft pressuring plate 214.Rack shaft 213 and tooth bar
Fixation between 207 and bounce cylinder fixed plate 301 can be connected using interference fit naturally it is also possible to adopt other outer ends solid
Fixed structure.Stay at regular intervals between tooth bar shaft pressuring plate 214 guarantee tooth bar 207 and bounce cylinder fixed plate 301.As this practicality
A kind of new embodiment, described inner supporting construction can include being vertically fixed on the bounce cylinder fixed plate of centre
Straight pin 215 on 301 top surface, is fixed with pad 216 on described straight pin 215, the inner of described two tooth bars
That slides is supported on pad 216.Pad 216 can ensure that in tooth bar 207, outer end is highly consistent.Can certainly be using other
Inner supporting construction.The inner of each tooth bar is the guidance set mobile phase of tooth bar mobile offer guide effect respectively with one
Even.As a kind of embodiment of the present utility model, the bounce cylinder that described guidance set includes being vertically fixed on centre is solid
Roller shaft 209 on fixed board 301 top surface, is rotatably connected to rib bearing 212 and bearing in described roller shaft 209 upper end
211 and the lower end of roller shaft 209 is fixedly connected with roller shaft spacer 210, described roller shaft spacer 210 is to bearing 211
Inner ring is spacing, for spring bearing, plays pre-pressing effect, moving contact outside described bearing and tooth bar, described with gear
The rib of side bearing 212 and tooth bar top surface moving contact are to prevent tooth bar along the axial movement of gear.
Each described bounce cylinder fixed plate 301 is respectively fixed with a bounce cylinder 302, in the horizontal direction
The described push rod of bounce cylinder 302 of setting is fixedly linked with bounce cylinder connecting plate 305, described bounce cylinder connecting plate
305 pass through the first guide rail slide block structure (buffer guide rail 303, buffer sliding block 304) and bounce cylinder fixed plate 301 slide be connected with
Realize the telescopic moving of finger, brick folding finger fixed plate 401 is fixed with described bounce cylinder connecting plate 305, described
Brick folding finger fixed plate 401 on be fixed with brick folding cylinder 402, the pushing away of horizontally disposed described brick folding cylinder 402
Bar is fixedly linked with finger movement end 407, and the described push rod of bounce cylinder 302 is vertically arranged with the push rod of brick folding cylinder 402,
It is solid with brick folding finger that the second guide rail slide block structure (brick folding guide rail 403, brick folding slide block 404) is passed through at described finger movement end 407
Fixed board 401 is slided and is connected, and through right clamping plate 411 and both right clamping plate axle 410 vertically arranging be rotatedly connected,
The described top of right clamping plate axle 410 and finger movement end 407 are rotatedly connected and are fixed with right limit block 412-1 in bottom,
The right clamping plate axle 410 of described right clamping plate 411 top face is fixedly connected with right locating piece 408-1, fixed on the described right side
Be fixed with right corner degree piece 409-1 on right clamping plate 411 top surface inside the block 408-1 of position, the described outside of right corner degree piece 409-1 with
Right locating piece 408-1 inner shape matches and both fit setting, the described medial surface of right corner degree piece 409-1 and finger
Movable end 407 lower section stairstepping boss side surfaces laminating setting, in the brick folding finger fixed plate with finger movement end 407 opposite side
Vertically it is fixed with finger fixing end 406, described finger fixing end 406 supports and is arranged on left clamping plate 414 on 401,
One left clamping plate axle 413 vertically pass through finger fixing end 406 and left clamping plate 414 and with finger fixing end 406 and left folder
Plate 414 is rotatedly connected, and the top exposing finger fixing end 406 in described left clamping plate axle 413 is fixed with left locating piece 408-2,
Left Angle piece 409-2 is fixed with finger fixing end 406 top surface inside described left locating piece 408-2, described left comer
The outside of degree piece 409-2 matches with left locating piece 408-2 inner shape and both fit setting, described Left Angle piece
The inner side of 409-2 and bounce cylinder connecting plate outer wall can compress setting；When the brick of the different angle of gripping, corresponding angles are installed
Degree left and right angle piece, now left and right two locating pieces fit with angle piece and drive left and right two axles and left and right clamping plate rotation, make
The angle that left and right clamping plate is formed is matched with brick both sides angle.
It is fixedly connected with left limit block 412-2 in the bottom of described left clamping plate axle 413, in described left limit block 412-
Inner side on left limit block inwall between the bottom outer wall of 2 inner side and left clamping plate and in described right limit block 412-1
On right limit block inwall and the bottom outer wall of right clamping plate between, the middle part each via bolt and one piece of spring leaf is fixedly linked,
It is threaded with a regulating bolt in the both sides of each limited block respectively, the bolt head of described regulating bolt can hold out against
The both sides of the spring leaf being correspondingly arranged, the both sides of described spring leaf can compress the left clamping plate being correspondingly arranged or right clamping plate,
By adjusting the length stretched out of regulating bolt, the compression degree to left and right clamping plate for the spring leaf two ends can be adjusted, described spring
Piece, in order to limit the active rotation in clamping plate axle for the clamping plate, only allows by the passive rotation under the extruding force of brick face, thus strengthening
The adaptability of paw；Change the angle of right clamping plate, left clamping plate under described right corner degree piece 409-1, the guiding of Left Angle piece 409-2
Degree, installs the angle piece of different angles according to brick during actual enforcement；Under the drive of brick folding cylinder 402, described right clamping plate
Clamp between 411 and left clamping plate 414 or open to grip brick or the brick unclamping gripping.
Preferably in right clamping plate 411 and left clamping plate 414 inner side, rubber 416 is provided with by rubber connecting plate 415, increases folder
Frictional force during brick, improves reliability.
Preferably in matrix 2 surrounding, front side protective plate 217 and side shield plate 218 are installed, can effectively reduce dust
Enter, adapt to severe working environment.
When this utility model uses: paw is arranged on by robot end by adpting flange 1, operation robot is by paw
The mobile surface to brick, single at most captures three pieces of bricks 5, according to brick and brick output position adjustment finger spacing (by motor
Driving gear 206 rotates, and realizes the linear motion of both direction with carry-over bar 207, and two ends finger assembly 3 is fixedly linked with tooth bar
And be fixedly connected with paw connecting plate 208, paw connecting plate 208 is fixedly connected with slide block 203, thus realize two ends finger band
Dynamic substrate slide block 203 moves on substrate guide rail 202, completes the adjustment of spacing), choose suitable angle piece 409 and change right folder
Angle is gripped between plate 411 and left clamping plate 414；Before crawl, control brick folding cylinder 402 to unclamp left and right clamping plate, mobile to suitable
Behind crawl position, control brick folding cylinder 402 clamping left and right clamping plate, complete the crawl of brick；When brick needs to stand up, before placement,
Control bounce cylinder 302 is retracted mode, after mobile extremely specified set-point, controls bounce cylinder 302 to enter exhaust condition, utilizes
The free gravity of brick falls, then controls brick folding cylinder 402 to unclamp left and right clamping plate, completes once to stack bricks.
Claims (6)
1. a kind of adapt to many brick the new paw of the robot that stacks bricks it is characterised in that: it includes matrix, in described matrix
Adpting flange for connecting robot is fixed with top surface, the bottom surface of described matrix is fixed with two along the left and right sides
The substrate guide rail be arrangeding in parallel, the centre of the substrate guide rail described at two is respectively fixed with a fixing paw contiguous block,
A substrate slide block is slidably connected respectively, at each on each described substrate guide rail of fixing paw contiguous block both sides
It is respectively fixed with a paw connecting plate, the handss being oppositely arranged about each two on substrate slide block and fixing paw contiguous block
One finger assembly is connected on ZHUANLIAN fishplate bar, each finger assembly includes being fixed on two about the handss being oppositely arranged
Bounce cylinder fixed plate on ZHUANLIAN fishplate bar, is fixed with electric rotating machine reducer assemblies in the bottom surface of described matrix, described
The output shaft of electric rotating machine reducer assemblies on be fixed with a gear, described gear is located in the middle of the bottom surface of matrix, institute
The tooth bar that the gear stated is placed in parallel in the gear left and right sides with two engages composition linear transmission, wherein one toothed rack
The inner centre of bottom surface the being located at matrix and outer end rear side positioned at the bottom surface of matrix, the inner of another toothed rack is located at matrix
The centre of bottom surface and outer end be located at matrix bottom surface front side, two tooth bar outer ends are spaced by outer end fixed structure respectively
Be held within two bounce cylinder fixed plates of both sides and the inner all slips of two tooth bars be supported on inner
On support structure, described inner supporting construction is held within the bounce cylinder fixed plate of centre, the inner of each tooth bar
It is connected for the mobile guidance set movement providing guide effect of tooth bar with one respectively, fix in each described bounce cylinder
One bounce cylinder is respectively fixed with plate, the push rod of horizontally disposed described bounce cylinder is connected with bounce cylinder
Plate is fixedly linked, described bounce cylinder connecting plate passes through the first guide rail slide block structure and bounce cylinder fixed plate is slided be connected with
Realize the telescopic moving of finger, brick folding finger fixed plate is fixed with described bounce cylinder connecting plate, in described brick folding
Brick folding cylinder is fixed with finger fixed plate, the horizontally disposed described push rod of brick folding cylinder is solid with finger movement end
Fixed connected, the described push rod of bounce cylinder is vertically arranged with the push rod of brick folding cylinder, and described finger movement end passes through second
Guide rail slide block structure is slided with brick folding finger fixed plate and is connected, and a right clamping plate axle vertically arranging passes through right clamping plate simultaneously
And both are rotatedly connected, the described top of right clamping plate axle is rotatedly connected and is fixed with right limit in bottom with finger movement end
Block, is fixedly connected with right locating piece, on the right clamping plate axle of described right clamping plate top face inside described right locating piece
Right clamping plate top surface on be fixed with right corner degree piece, the described outside of right corner degree piece match with right locating piece inner shape and
Both laminating settings, the described medial surface of right corner degree piece is fitted with stairstepping boss side surfaces below finger movement end setting,
With finger fixing end is vertically fixed with the brick folding finger fixed plate of finger movement end opposite side, described finger is fixed
End support is arranged on left clamping plate, and a left clamping plate axle is vertically passed through finger fixing end and left clamping plate and fixed with finger
End and left clamping plate are rotatedly connected, and the top exposing finger fixing end in described left clamping plate axle is fixed with left locating piece, described
Left locating piece inside finger fixing end top surface on be fixed with Left Angle piece, the described outside of Left Angle piece and left locating piece
Inner shape matches and both fit setting, and the described inner side of Left Angle piece can be pressed with bounce cylinder connecting plate outer wall
Tight setting, is fixedly connected with left limit block in the bottom of described left clamping plate axle, in the inner side of described left limit block and left folder
On left limit block inwall between the bottom outer wall of the plate and inner side in described right limit block and the bottom outer wall of right clamping plate
Between right limit block inwall on be fixedly linked each via the middle part of bolt and one piece of spring leaf, the two of each limited block
Side is threaded with a regulating bolt respectively, and the bolt head of described regulating bolt can hold out against the spring leaf being correspondingly arranged
Both sides, the both sides of described spring leaf can compress the left clamping plate being correspondingly arranged or right clamping plate to limit clamping plate on clamping plate axle
Active rotation, under the drive of brick folding cylinder, clamp between described right clamping plate and left clamping plate or open with grip brick or
Person unclamps the brick of gripping.
2. according to claim 1 adapt to many brick the new paw of the robot that stacks bricks it is characterised in that: described outer end
Fixed structure includes the tooth bar being separately positioned between the described top surface of bounce cylinder fixed plate of front-end and back-end and tooth bar
Shaft pressuring plate, is fixedly linked by rack shaft between described bounce cylinder fixed plate, tooth bar and tooth bar shaft pressuring plate.
3. according to claim 1 adapt to many brick the new paw of the robot that stacks bricks it is characterised in that: described the inner
Supporting construction includes the straight pin being vertically fixed on the top surface of bounce cylinder fixed plate of centre, solid on described straight pin
Surely have a pad, described two tooth bars inner slide be supported on pad.
4. according to one of claim 1-3 adaptation many brick the new paw of the robot that stacks bricks it is characterised in that: described
Guidance set include being vertically fixed on roller shaft on the fixing plate top surface of bounce cylinder of centre, in described roller shaft upper end
It is rotatably connected to the lower end with rib bearing and bearing and roller shaft and be fixedly connected with roller shaft spacer, described roller shaft
Spacer is spacing to the inner ring of bearing, moving contact outside described bearing and tooth bar, the described rib with rib bearing with
Tooth bar top surface moving contact is to prevent tooth bar along the axial movement of gear.
5. according to claim 4 adapt to many brick the new paw of the robot that stacks bricks it is characterised in that: on the described right side
Inside clamping plate and left clamping plate, rubber is provided with by rubber connecting plate.
6. according to claim 4 adapt to many brick the new paw of the robot that stacks bricks it is characterised in that: in described base
Body surrounding is provided with front side protective plate and side shield plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620839460.8U CN205915351U (en) | 2016-08-03 | 2016-08-03 | Novel hand claw of setting machine ware people that adapts to many brick shape |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620839460.8U CN205915351U (en) | 2016-08-03 | 2016-08-03 | Novel hand claw of setting machine ware people that adapts to many brick shape |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205915351U true CN205915351U (en) | 2017-02-01 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620839460.8U Withdrawn - After Issue CN205915351U (en) | 2016-08-03 | 2016-08-03 | Novel hand claw of setting machine ware people that adapts to many brick shape |
Country Status (1)
| Country | Link |
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| CN (1) | CN205915351U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078780A (en) * | 2016-08-03 | 2016-11-09 | 天津扬天科技有限公司 | A kind of novel paw of the robot that stacks bricks adapting to many brick |
| CN106865213A (en) * | 2017-04-24 | 2017-06-20 | 山东森烨生态工程有限公司 | A kind of mechanical gripper and the bale breaker including the handgrip |
| CN107176458A (en) * | 2017-07-14 | 2017-09-19 | 陕西宝深机械(集团)有限公司 | Quick and precisely location type code base fixture two-way mobile device |
| CN108393798A (en) * | 2018-03-27 | 2018-08-14 | 武汉理工大学 | A kind of robot polishing end handgrip for automobile support |
| CN108621124A (en) * | 2017-03-17 | 2018-10-09 | 株式会社东芝 | Holding mechanism, transfer device, handling robot system and robot method for carrying |
| CN109129418A (en) * | 2018-08-15 | 2019-01-04 | 天长市天力液压机械有限责任公司 | A kind of two-axis rubber roller catching robot |
| CN110314863A (en) * | 2019-08-21 | 2019-10-11 | 烟台东泽电气科技股份有限公司 | A kind of blood taking bag socket Defect Detection system |
| CN110550452A (en) * | 2019-04-11 | 2019-12-10 | 广汽本田汽车有限公司 | Conveying device |
| CN113523743A (en) * | 2020-04-13 | 2021-10-22 | 富鼎电子科技(嘉善)有限公司 | Clamping jaw mechanism and assembling equipment |
| CN114474117A (en) * | 2022-02-17 | 2022-05-13 | 宁波科达精工科技股份有限公司 | Get a clamping jaw clearance adjustable manipulator |
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2016
- 2016-08-03 CN CN201620839460.8U patent/CN205915351U/en not_active Withdrawn - After Issue
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078780A (en) * | 2016-08-03 | 2016-11-09 | 天津扬天科技有限公司 | A kind of novel paw of the robot that stacks bricks adapting to many brick |
| CN106078780B (en) * | 2016-08-03 | 2018-03-20 | 天津扬天科技有限公司 | A kind of new paw of the robot that stacks bricks for adapting to more brick |
| CN108621124A (en) * | 2017-03-17 | 2018-10-09 | 株式会社东芝 | Holding mechanism, transfer device, handling robot system and robot method for carrying |
| CN106865213A (en) * | 2017-04-24 | 2017-06-20 | 山东森烨生态工程有限公司 | A kind of mechanical gripper and the bale breaker including the handgrip |
| CN107176458A (en) * | 2017-07-14 | 2017-09-19 | 陕西宝深机械(集团)有限公司 | Quick and precisely location type code base fixture two-way mobile device |
| CN108393798A (en) * | 2018-03-27 | 2018-08-14 | 武汉理工大学 | A kind of robot polishing end handgrip for automobile support |
| CN109129418A (en) * | 2018-08-15 | 2019-01-04 | 天长市天力液压机械有限责任公司 | A kind of two-axis rubber roller catching robot |
| CN110550452A (en) * | 2019-04-11 | 2019-12-10 | 广汽本田汽车有限公司 | Conveying device |
| CN110314863A (en) * | 2019-08-21 | 2019-10-11 | 烟台东泽电气科技股份有限公司 | A kind of blood taking bag socket Defect Detection system |
| CN110314863B (en) * | 2019-08-21 | 2021-07-13 | 烟台东泽电气科技股份有限公司 | Blood collection bag socket flaw detection system |
| CN113523743A (en) * | 2020-04-13 | 2021-10-22 | 富鼎电子科技(嘉善)有限公司 | Clamping jaw mechanism and assembling equipment |
| CN114474117A (en) * | 2022-02-17 | 2022-05-13 | 宁波科达精工科技股份有限公司 | Get a clamping jaw clearance adjustable manipulator |
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| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170201 Effective date of abandoning: 20180320 |